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        <p>Multicopter Swarm Ground-Based Control Platform is proposed to implement multicopter swarm tests based on a central control computer combined with navigation provided by external optical positioning systems. It can provide a safe and effective environment for researchers to verify and test advanced UAV swarm algorithms. We have employed a commercial small-size quadcopter DJI Tello. In the platform, the navigation data is obtained by the external optical position systems (i.e., the commercial OptiTrack or our designed multi-camera testbed), and then transferred to the Simulink model on a central control computer via User Datagram Protocol (UDP). Then, the main swarm control rate in the Simulink model generates the command controls to the Tello swarm.</p>
        <p><strong>Research Directions:</strong></p>
        <ul>
        <li>Design and implementation of accurate, fast, and robust swarm control rates.</li>
        <li>Model-based design of any specific multicopter swarm control.</li>
        <li>Swarm control of other unmanned vehicles, such as mobile robots.</li>

        </ul>
        <center><img src="http://rfly.buaa.edu.cn/images/research/MulticopterSwarmGround-BasedControlPlatformFigure1.png"> </center>
        <center>Figure 1 Structure of the multicopter swarm ground-based control platform. </center>
        <p>① Multicopter navigation acquisition</p>
        <p>② Multicopter trajectory generation</p>
        <p>③ Multicopter swarm control rate</p>
        <p>④ Control commands sending</p>
        <p>⑤ Navigation data plotting</p>
        <p>⑥ Trajectory plotting</p>
        <p>⑦ Data logging</p>
        <p>⑧ Battery status</p>
        <p>⑨ Real-time control module</p>
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